<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.20"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Newton Dynamics: C:/Development/newton-dynamics/newton-4.00/sdk/dCollision/ndBodyKinematic.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
  $(document).ready(function() { init_search(); });
/* @license-end */
</script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectlogo"><img alt="Logo" src="logo_php.png"/></td>
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Newton Dynamics
   &#160;<span id="projectnumber">4.00</span>
   </div>
  </td>
   <td>        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="search/mag_sel.svg"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="Search" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)" 
               onblur="searchBox.OnSearchFieldFocus(false)" 
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.svg" alt=""/></a>
          </span>
        </div>
</td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.20 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'Search');
/* @license-end */
</script>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('nd_body_kinematic_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">ndBodyKinematic.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/* Copyright (c) &lt;2003-2022&gt; &lt;Julio Jerez, Newton Game Dynamics&gt;</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">* </span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">* This software is provided &#39;as-is&#39;, without any express or implied</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">* warranty. In no event will the authors be held liable for any damages</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">* arising from the use of this software.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">* </span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">* Permission is granted to anyone to use this software for any purpose,</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">* including commercial applications, and to alter it and redistribute it</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">* freely, subject to the following restrictions:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">* </span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">* 1. The origin of this software must not be misrepresented; you must not</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">* claim that you wrote the original software. If you use this software</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">* in a product, an acknowledgment in the product documentation would be</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">* appreciated but is not required.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">* </span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">* 2. Altered source versions must be plainly marked as such, and must not be</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">* misrepresented as being the original software.</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">* </span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">* 3. This notice may not be removed or altered from any source distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160; </div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#ifndef __ND_BODY_KINEMATIC_H__</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#define __ND_BODY_KINEMATIC_H__</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &quot;ndCollisionStdafx.h&quot;</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include &quot;ndBody.h&quot;</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include &quot;ndConstraint.h&quot;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#include &quot;ndBodyListView.h&quot;</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160; </div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keyword">class </span><a class="code" href="classnd_scene.html">ndScene</a>;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="keyword">class </span><a class="code" href="classnd_model.html">ndModel</a>;</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keyword">class </span><a class="code" href="classnd_skeleton_container.html">ndSkeletonContainer</a>;</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="keyword">class </span><a class="code" href="classnd_joint_bilateral_constraint.html">ndJointBilateralConstraint</a>;</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#define D_FREEZZING_VELOCITY_DRAG   ndFloat32 (0.9f)</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#define D_SOLVER_MAX_ERROR          (D_FREEZE_MAG * ndFloat32 (0.5f))</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;D_MSV_NEWTON_ALIGN_32</div>
<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classnd_body_kinematic.html">   39</a></span>&#160;<span class="keyword">class </span><a class="code" href="classnd_body_kinematic.html">ndBodyKinematic</a> : <span class="keyword">public</span> <a class="code" href="classnd_body.html">ndBody</a></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;{</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="keyword">class </span>ndContactkey</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    {</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;        ndContactkey(ndUnsigned32 tag0, ndUnsigned32 tag1);</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        <span class="keywordtype">bool</span> operator&gt; (<span class="keyword">const</span> ndContactkey&amp; key) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        <span class="keywordtype">bool</span> operator&lt; (<span class="keyword">const</span> ndContactkey&amp; key) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        <span class="keywordtype">bool</span> operator== (<span class="keyword">const</span> ndContactkey&amp; key) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        <span class="keyword">private</span>:</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        <span class="keyword">union</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        {</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;            ndUnsigned64 m_tag;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;            <span class="keyword">struct</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;            {</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;                ndUnsigned32 m_tagLow;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;                ndUnsigned32 m_tagHigh;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;            };</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        };</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    };</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classnd_body_kinematic_1_1nd_joint_list.html">   62</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classnd_body_kinematic_1_1nd_joint_list.html">ndJointList</a> : <span class="keyword">public</span> <a class="code" href="classnd_list.html">ndList</a>&lt;ndJointBilateralConstraint*, ndContainersFreeListAlloc&lt;ndJointBilateralConstraint*&gt;&gt;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        <a class="code" href="classnd_body_kinematic_1_1nd_joint_list.html">ndJointList</a>()</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;            :<a class="code" href="classnd_list.html">ndList&lt;ndJointBilateralConstraint*, ndContainersFreeListAlloc&lt;ndJointBilateralConstraint*&gt;</a>&gt;()</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        {</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        }</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    };</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classnd_body_kinematic_1_1nd_contact_map.html">   71</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classnd_body_kinematic_1_1nd_contact_map.html">ndContactMap</a>: <span class="keyword">public</span> <a class="code" href="classnd_tree.html">ndTree</a>&lt;ndContact*, ndContactkey, ndContainersFreeListAlloc&lt;ndContact*&gt;&gt;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        D_COLLISION_API <a class="code" href="classnd_contact.html">ndContact</a>* FindContact(<span class="keyword">const</span> <a class="code" href="classnd_body.html">ndBody</a>* <span class="keyword">const</span> body0, <span class="keyword">const</span> <a class="code" href="classnd_body.html">ndBody</a>* <span class="keyword">const</span> body1) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keyword">private</span>:</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <a class="code" href="classnd_body_kinematic_1_1nd_contact_map.html">ndContactMap</a>();</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        ~<a class="code" href="classnd_body_kinematic_1_1nd_contact_map.html">ndContactMap</a>();</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <span class="keywordtype">void</span> AttachContact(<a class="code" href="classnd_contact.html">ndContact</a>* <span class="keyword">const</span> contact);</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <span class="keywordtype">void</span> DetachContact(<a class="code" href="classnd_contact.html">ndContact</a>* <span class="keyword">const</span> contact);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classnd_body_kinematic.html">ndBodyKinematic</a>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    };</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    D_CLASS_REFLECTION(<a class="code" href="classnd_body_kinematic.html">ndBodyKinematic</a>);</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    D_COLLISION_API <a class="code" href="classnd_body_kinematic.html">ndBodyKinematic</a>();</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    D_COLLISION_API <a class="code" href="classnd_body_kinematic.html">ndBodyKinematic</a>(<span class="keyword">const</span> <a class="code" href="classnd_load_save_base_1_1nd_load_descriptor.html">ndLoadSaveBase::ndLoadDescriptor</a>&amp; desc);</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    D_COLLISION_API <span class="keyword">virtual</span> ~<a class="code" href="classnd_body_kinematic.html">ndBodyKinematic</a>();</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <a class="code" href="classnd_scene.html">ndScene</a>* GetScene() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    ndUnsigned32 GetIndex() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    ndFloat32 GetInvMass() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a> GetInvInertia() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp; GetMassMatrix() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keyword">const</span> <a class="code" href="classnd_matrix.html">ndMatrix</a>&amp; GetInvInertiaMatrix() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <a class="code" href="classnd_vector.html">ndVector</a> GetGyroAlpha() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <a class="code" href="classnd_vector.html">ndVector</a> GetGyroTorque() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keywordtype">bool</span> GetSleepState() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="keywordtype">void</span> RestoreSleepState(<span class="keywordtype">bool</span> state);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    D_COLLISION_API <span class="keywordtype">void</span> SetSleepState(<span class="keywordtype">bool</span> state);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keywordtype">bool</span> GetAutoSleep() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keywordtype">void</span> SetAutoSleep(<span class="keywordtype">bool</span> state);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    ndFloat32 GetMaxLinearStep() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    ndFloat32 GetMaxAngularStep() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keywordtype">void</span> SetDebugMaxLinearAndAngularIntegrationStep(ndFloat32 angleInRadian, ndFloat32 stepInUnitPerSeconds);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="keyword">virtual</span> ndFloat32 GetLinearDamping() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> SetLinearDamping(ndFloat32 linearDamp);</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classnd_vector.html">ndVector</a> GetCachedDamping() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classnd_vector.html">ndVector</a> GetAngularDamping() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> SetAngularDamping(<span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp; angularDamp);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    D_COLLISION_API <a class="code" href="classnd_shape_instance.html">ndShapeInstance</a>&amp; GetCollisionShape();</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    D_COLLISION_API <span class="keyword">const</span> <a class="code" href="classnd_shape_instance.html">ndShapeInstance</a>&amp; GetCollisionShape() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    D_COLLISION_API <span class="keyword">virtual</span> <span class="keywordtype">void</span> SetCollisionShape(<span class="keyword">const</span> <a class="code" href="classnd_shape_instance.html">ndShapeInstance</a>&amp; shapeInstance);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    D_COLLISION_API <span class="keyword">virtual</span> <span class="keywordtype">bool</span> RayCast(<a class="code" href="classnd_ray_cast_notify.html">ndRayCastNotify</a>&amp; callback, <span class="keyword">const</span> <a class="code" href="classnd_fast_ray.html">ndFastRay</a>&amp; ray, <span class="keyword">const</span> ndFloat32 maxT) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    D_COLLISION_API <a class="code" href="classnd_vector.html">ndVector</a> CalculateLinearMomentum() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    D_COLLISION_API <span class="keyword">virtual</span> <a class="code" href="classnd_vector.html">ndVector</a> CalculateAngularMomentum() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    D_COLLISION_API ndFloat32 TotalEnergy() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    D_COLLISION_API <a class="code" href="classnd_matrix.html">ndMatrix</a> CalculateInertiaMatrix() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    D_COLLISION_API <span class="keyword">virtual</span> <a class="code" href="classnd_matrix.html">ndMatrix</a> CalculateInvInertiaMatrix() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    D_COLLISION_API <span class="keyword">virtual</span> <span class="keywordtype">void</span> IntegrateVelocity(ndFloat32 timestep);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    D_COLLISION_API <span class="keyword">virtual</span> <span class="keywordtype">void</span> Save(<span class="keyword">const</span> <a class="code" href="classnd_load_save_base_1_1nd_save_descriptor.html">ndLoadSaveBase::ndSaveDescriptor</a>&amp; desc) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <span class="keywordtype">void</span> UpdateInvInertiaMatrix();</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="keywordtype">void</span> SetMassMatrix(<span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp; massMatrix);</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <span class="keywordtype">void</span> SetMassMatrix(ndFloat32 mass, <span class="keyword">const</span> <a class="code" href="classnd_shape_instance.html">ndShapeInstance</a>&amp; shapeInstance);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    <span class="keywordtype">void</span> SetMassMatrix(ndFloat32 Ixx, ndFloat32 Iyy, ndFloat32 Izz, ndFloat32 mass);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    D_COLLISION_API <span class="keyword">virtual</span> <span class="keywordtype">void</span> SetMassMatrix(ndFloat32 mass, <span class="keyword">const</span> <a class="code" href="classnd_matrix.html">ndMatrix</a>&amp; inertia);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    <span class="keywordtype">void</span> GetMassMatrix(ndFloat32&amp; Ixx, ndFloat32&amp; Iyy, ndFloat32&amp; Izz, ndFloat32&amp; mass);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    D_COLLISION_API <span class="keywordtype">void</span> SetMatrixUpdateScene(<span class="keyword">const</span> <a class="code" href="classnd_matrix.html">ndMatrix</a>&amp; matrix);</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    D_COLLISION_API <span class="keyword">virtual</span> <a class="code" href="classnd_contact.html">ndContact</a>* FindContact(<span class="keyword">const</span> <a class="code" href="classnd_body.html">ndBody</a>* <span class="keyword">const</span> otherBody) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classnd_body_kinematic.html">ndBodyKinematic</a>* GetAsBodyKinematic();</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <a class="code" href="classnd_skeleton_container.html">ndSkeletonContainer</a>* GetSkeleton() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keywordtype">void</span> SetSkeleton(<a class="code" href="classnd_skeleton_container.html">ndSkeletonContainer</a>* <span class="keyword">const</span> skeleton);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classnd_vector.html">ndVector</a> GetForce() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classnd_vector.html">ndVector</a> GetTorque() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> SetForce(<span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp; force);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> SetTorque(<span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp; torque);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> AddImpulse(<span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp; pointVeloc, <span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp; pointPosit, ndFloat32 timestep);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> ApplyImpulsePair(<span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp; linearImpulse, <span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp; angularImpulse, ndFloat32 timestep);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> ApplyImpulsesAtPoint(ndInt32 count, <span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>* <span class="keyword">const</span> impulseArray, <span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>* <span class="keyword">const</span> pointArray, ndFloat32 timestep);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <a class="code" href="classnd_vector.html">ndVector</a> GetAccel() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <a class="code" href="classnd_vector.html">ndVector</a> GetAlpha() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keywordtype">void</span> SetAccel(<span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp; accel);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keywordtype">void</span> SetAlpha(<span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp; alpha);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <a class="code" href="classnd_body_kinematic_1_1nd_contact_map.html">ndContactMap</a>&amp; GetContactMap();</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="keyword">const</span> <a class="code" href="classnd_body_kinematic_1_1nd_contact_map.html">ndContactMap</a>&amp; GetContactMap() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <span class="keyword">const</span> <a class="code" href="classnd_body_kinematic_1_1nd_joint_list.html">ndJointList</a>&amp; GetJointList() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    D_COLLISION_API <span class="keyword">virtual</span> <span class="keywordtype">void</span> AttachContact(<a class="code" href="classnd_contact.html">ndContact</a>* <span class="keyword">const</span> contact);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    D_COLLISION_API <span class="keyword">virtual</span> <span class="keywordtype">void</span> DetachContact(<a class="code" href="classnd_contact.html">ndContact</a>* <span class="keyword">const</span> contact);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    D_COLLISION_API <span class="keyword">virtual</span> <span class="keywordtype">void</span> DetachJoint(ndJointList::ndNode* <span class="keyword">const</span> node);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    D_COLLISION_API <span class="keyword">virtual</span> ndJointList::ndNode* AttachJoint(<a class="code" href="classnd_joint_bilateral_constraint.html">ndJointBilateralConstraint</a>* <span class="keyword">const</span> joint);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    D_COLLISION_API <span class="keyword">virtual</span> <span class="keywordtype">void</span> IntegrateExternalForce(ndFloat32 timestep);</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="keywordtype">void</span> SetAccel(<span class="keyword">const</span> <a class="code" href="classnd_jacobian.html">ndJacobian</a>&amp; accel);</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> SpecialUpdate(ndFloat32 timestep);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> IntegrateGyroSubstep(<span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp; timestep);</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> ApplyExternalForces(ndInt32 threadIndex, ndFloat32 timestep);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classnd_jacobian.html">ndJacobian</a> IntegrateForceAndToque(<span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp; force, <span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp; torque, <span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp; timestep) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="keywordtype">void</span> UpdateCollisionMatrix();</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <span class="keywordtype">void</span> PrepareStep(ndInt32 index);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <span class="keywordtype">void</span> SetSceneNodes(<a class="code" href="classnd_scene.html">ndScene</a>* <span class="keyword">const</span> scene, ndBodyListView::ndNode* <span class="keyword">const</span> node);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> AddDampingAcceleration(ndFloat32 timestep);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    D_COLLISION_API <span class="keyword">virtual</span> <span class="keywordtype">void</span> EvaluateSleepState(ndFloat32 freezeSpeed2, ndFloat32 freezeAccel2);</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <a class="code" href="classnd_matrix.html">ndMatrix</a> m_invWorldInertiaMatrix;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <a class="code" href="classnd_shape_instance.html">ndShapeInstance</a> m_shapeInstance;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <a class="code" href="classnd_vector.html">ndVector</a> m_mass;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <a class="code" href="classnd_vector.html">ndVector</a> m_invMass;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    <a class="code" href="classnd_vector.html">ndVector</a> m_accel;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    <a class="code" href="classnd_vector.html">ndVector</a> m_alpha;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <a class="code" href="classnd_vector.html">ndVector</a> m_gyroAlpha;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    <a class="code" href="classnd_vector.html">ndVector</a> m_gyroTorque;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    <a class="code" href="classnd_quaternion.html">ndQuaternion</a> m_gyroRotation;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    <a class="code" href="classnd_body_kinematic_1_1nd_joint_list.html">ndJointList</a> m_jointList;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    <a class="code" href="classnd_body_kinematic_1_1nd_contact_map.html">ndContactMap</a> m_contactList;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    <span class="keyword">mutable</span> <a class="code" href="classnd_spin_lock.html">ndSpinLock</a> m_lock;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    <a class="code" href="classnd_scene.html">ndScene</a>* m_scene;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    <a class="code" href="classnd_body_kinematic.html">ndBodyKinematic</a>* m_islandParent;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    ndBodyListView::ndNode* m_sceneNode;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <a class="code" href="classnd_skeleton_container.html">ndSkeletonContainer</a>* m_skeletonContainer;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <a class="code" href="classnd_special_list.html">ndSpecialList&lt;ndBodyKinematic&gt;::ndNode</a>* m_spetialUpdateNode;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    ndFloat32 m_maxAngleStep;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    ndFloat32 m_maxLinearStep;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    ndFloat32 m_weigh;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    ndInt32 m_index;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    ndInt32 m_bodyNodeIndex;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    ndInt32 m_buildSkelIndex;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    ndInt32 m_sceneNodeIndex;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    ndInt32 m_buildBodyNodeIndex;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    ndInt32 m_buildSceneNodeIndex;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    D_COLLISION_API <span class="keyword">static</span> <a class="code" href="classnd_vector.html">ndVector</a> m_velocTol;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classnd_world.html">ndWorld</a>;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classnd_scene.html">ndScene</a>;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classnd_contact.html">ndContact</a>;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classnd_ik_solver.html">ndIkSolver</a>;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classnd_bvh_leaf_node.html">ndBvhLeafNode</a>;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classnd_dynamics_update.html">ndDynamicsUpdate</a>;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classnd_world_scene_cuda.html">ndWorldSceneCuda</a>;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classnd_bvh_scene_manager.html">ndBvhSceneManager</a>;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classnd_skeleton_container.html">ndSkeletonContainer</a>;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classnd_dynamics_update_soa.html">ndDynamicsUpdateSoa</a>;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classnd_dynamics_update_avx2.html">ndDynamicsUpdateAvx2</a>;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classnd_dynamics_update_cuda.html">ndDynamicsUpdateCuda</a>;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classnd_dynamics_update_opencl.html">ndDynamicsUpdateOpencl</a>;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classnd_joint_bilateral_constraint.html">ndJointBilateralConstraint</a>;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;} D_GCC_NEWTON_ALIGN_32;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno"><a class="line" href="classnd_body_sentinel.html">  237</a></span>&#160;<span class="keyword">class </span><a class="code" href="classnd_body_sentinel.html">ndBodySentinel</a> : <span class="keyword">public</span> <a class="code" href="classnd_body_kinematic.html">ndBodyKinematic</a></div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;{</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    <a class="code" href="classnd_body_sentinel.html">ndBodySentinel</a>* GetAsBodySentinel() { <span class="keywordflow">return</span> <span class="keyword">this</span>; }</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;};</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;<span class="keyword">inline</span> ndUnsigned32 ndBodyKinematic::GetIndex()<span class="keyword"> const</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    <span class="keywordflow">return</span> ndUnsigned32(m_index);</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;}</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;<span class="keyword">inline</span> ndFloat32 ndBodyKinematic::GetInvMass()<span class="keyword"> const</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    <span class="keywordflow">return</span> m_invMass.m_w;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;}</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;<span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a> ndBodyKinematic::GetInvInertia()<span class="keyword"> const</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    <span class="keywordflow">return</span> m_invMass &amp; ndVector::m_triplexMask;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;}</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;<span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp; ndBodyKinematic::GetMassMatrix()<span class="keyword"> const</span></div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    <span class="keywordflow">return</span> m_mass;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;}</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;<span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="classnd_matrix.html">ndMatrix</a>&amp; ndBodyKinematic::GetInvInertiaMatrix()<span class="keyword"> const</span></div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    <span class="keywordflow">return</span> m_invWorldInertiaMatrix;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;}</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;<span class="keyword">inline</span> <a class="code" href="classnd_vector.html">ndVector</a> ndBodyKinematic::GetGyroAlpha()<span class="keyword"> const</span></div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    <span class="keywordflow">return</span> m_gyroAlpha;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;}</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;<span class="keyword">inline</span> <a class="code" href="classnd_vector.html">ndVector</a> ndBodyKinematic::GetGyroTorque()<span class="keyword"> const</span></div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    <span class="keywordflow">return</span> m_gyroTorque;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;}</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> ndBodyKinematic::GetMassMatrix(ndFloat32&amp; Ixx, ndFloat32&amp; Iyy, ndFloat32&amp; Izz, ndFloat32&amp; mass)</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;{</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    Ixx = m_mass.m_x;</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    Iyy = m_mass.m_y;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    Izz = m_mass.m_z;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    mass = m_mass.m_w;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;}</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160; </div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> ndBodyKinematic::SetMassMatrix(<span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp; massMatrix)</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;{</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    <a class="code" href="classnd_matrix.html">ndMatrix</a> inertia(ndGetZeroMatrix());</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    inertia[0][0] = massMatrix.m_x;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    inertia[1][1] = massMatrix.m_y;</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    inertia[2][2] = massMatrix.m_z;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    SetMassMatrix(massMatrix.m_w, inertia);</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;}</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> ndBodyKinematic::SetMassMatrix(ndFloat32 Ixx, ndFloat32 Iyy, ndFloat32 Izz, ndFloat32 mass)</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;{</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    SetMassMatrix(<a class="code" href="classnd_vector.html">ndVector</a>(Ixx, Iyy, Izz, mass));</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;}</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> ndBodyKinematic::SetMassMatrix(ndFloat32 mass, <span class="keyword">const</span> <a class="code" href="classnd_shape_instance.html">ndShapeInstance</a>&amp; shapeInstance)</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;{</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    <a class="code" href="classnd_matrix.html">ndMatrix</a> inertia(shapeInstance.CalculateInertia());</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    <a class="code" href="classnd_vector.html">ndVector</a> origin(inertia.m_posit);</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    <span class="keywordflow">for</span> (ndInt32 i = 0; i &lt; 3; ++i) </div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;    {</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        inertia[i] = inertia[i].Scale(mass);</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;        <span class="comment">//inertia[i][i] = (inertia[i][i] + origin[i] * origin[i]) * mass;</span></div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        <span class="comment">//for (ndInt32 j = i + 1; j &lt; 3; ++j) {</span></div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        <span class="comment">//  ndFloat32 crossIJ = origin[i] * origin[j];</span></div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;        <span class="comment">//  inertia[i][j] = (inertia[i][j] + crossIJ) * mass;</span></div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;        <span class="comment">//  inertia[j][i] = (inertia[j][i] + crossIJ) * mass;</span></div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;        <span class="comment">//}</span></div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    }</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160; </div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    <span class="comment">// although the engine fully supports asymmetric inertia, I will ignore cross inertia for now</span></div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    SetCentreOfMass(origin);</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    SetMassMatrix(mass, inertia);</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;}</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160; </div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;<span class="keyword">inline</span> <a class="code" href="classnd_body_kinematic.html">ndBodyKinematic</a>* ndBodyKinematic::GetAsBodyKinematic() </div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;{ </div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">this</span>; </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;}</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160; </div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;<span class="keyword">inline</span> <a class="code" href="classnd_scene.html">ndScene</a>* ndBodyKinematic::GetScene()<span class="keyword"> const</span></div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    <span class="keywordflow">return</span> m_scene;</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;}</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160; </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> ndBodyKinematic::SetSceneNodes(<a class="code" href="classnd_scene.html">ndScene</a>* <span class="keyword">const</span> scene, ndBodyListView::ndNode* <span class="keyword">const</span> node)</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;{</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    m_scene = scene;</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    m_sceneNode = node;</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;}</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160; </div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;<span class="keyword">inline</span> <a class="code" href="classnd_vector.html">ndVector</a> ndBodyKinematic::GetForce()<span class="keyword"> const</span></div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    <span class="keywordflow">return</span> ndVector::m_zero;</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;}</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160; </div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;<span class="keyword">inline</span> <a class="code" href="classnd_vector.html">ndVector</a> ndBodyKinematic::GetTorque()<span class="keyword"> const</span></div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;    <span class="keywordflow">return</span> ndVector::m_zero;</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;}</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160; </div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> ndBodyKinematic::SetForce(<span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp;)</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;{</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;}</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160; </div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> ndBodyKinematic::SetTorque(<span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp;)</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;{</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;}</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;<span class="keyword">inline</span> <a class="code" href="classnd_vector.html">ndVector</a> ndBodyKinematic::GetAccel()<span class="keyword"> const</span></div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;    <span class="keywordflow">return</span> m_accel;</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;}</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160; </div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> ndBodyKinematic::SetAccel(<span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp; accel)</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;{</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;    m_accel = accel;</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;}</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160; </div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;<span class="keyword">inline</span> <a class="code" href="classnd_vector.html">ndVector</a> ndBodyKinematic::GetAlpha()<span class="keyword"> const</span></div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;    <span class="keywordflow">return</span> m_alpha;</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;}</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160; </div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> ndBodyKinematic::SetAlpha(<span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp; alpha)</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;{</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;    m_alpha = alpha;</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;}</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160; </div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> ndBodyKinematic::AddDampingAcceleration(ndFloat32)</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;{</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;}</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160; </div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> ndBodyKinematic::SetAccel(<span class="keyword">const</span> <a class="code" href="classnd_jacobian.html">ndJacobian</a>&amp; accel)</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;{</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;    SetAccel(accel.m_linear);</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    SetAlpha(accel.m_angular);</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;}</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160; </div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> ndBodyKinematic::PrepareStep(ndInt32 index)</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;{</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;    m_index = index;</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;    m_isJointFence0 = 1;</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    m_isJointFence1 = 1;</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;    m_isConstrained = 0;</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;    m_buildSkelIndex = 0;</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    m_islandParent = <span class="keyword">this</span>;</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;    m_weigh = ndFloat32(0.0f);</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;    m_isStatic = ndUnsigned8(m_invMass.m_w == ndFloat32(0.0f));</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;    m_equilibrium = ndUnsigned8 (m_isStatic | m_equilibrium);</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;    m_equilibrium0 = m_equilibrium;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;}</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160; </div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;<span class="keyword">inline</span> <a class="code" href="classnd_body_kinematic_1_1nd_contact_map.html">ndBodyKinematic::ndContactMap</a>&amp; ndBodyKinematic::GetContactMap()</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;{</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;    <span class="keywordflow">return</span> m_contactList;</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;}</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160; </div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;<span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="classnd_body_kinematic_1_1nd_contact_map.html">ndBodyKinematic::ndContactMap</a>&amp; ndBodyKinematic::GetContactMap()<span class="keyword"> const</span></div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;    <span class="keywordflow">return</span> m_contactList;</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;}</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160; </div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;<span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="classnd_body_kinematic_1_1nd_joint_list.html">ndBodyKinematic::ndJointList</a>&amp; ndBodyKinematic::GetJointList()<span class="keyword"> const</span></div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    <span class="keywordflow">return</span> m_jointList;</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;}</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160; </div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;<span class="keyword">inline</span> <a class="code" href="classnd_shape_instance.html">ndShapeInstance</a>&amp; ndBodyKinematic::GetCollisionShape()</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;{</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;    <span class="keywordflow">return</span> (<a class="code" href="classnd_shape_instance.html">ndShapeInstance</a>&amp;)m_shapeInstance;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;}</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160; </div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;<span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="classnd_shape_instance.html">ndShapeInstance</a>&amp; ndBodyKinematic::GetCollisionShape()<span class="keyword"> const</span></div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;    <span class="keywordflow">return</span> m_shapeInstance;</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;}</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160; </div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> ndBodyKinematic::GetAutoSleep()<span class="keyword"> const</span></div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;    <span class="keywordflow">return</span> m_autoSleep ? true : <span class="keyword">false</span>;</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;}</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160; </div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> ndBodyKinematic::GetSleepState()<span class="keyword"> const</span></div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    <span class="keywordflow">return</span> m_equilibrium ? true : <span class="keyword">false</span>;</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;}</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160; </div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> ndBodyKinematic::RestoreSleepState(<span class="keywordtype">bool</span> state)</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;{</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;    m_equilibrium = ndUnsigned8 (state ? 1 : 0);</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;}</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160; </div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> ndBodyKinematic::SetAutoSleep(<span class="keywordtype">bool</span> state)</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;{</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;    m_autoSleep = ndUnsigned8 (state ? 1 : 0);</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;    SetSleepState(<span class="keyword">false</span>);</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;}</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160; </div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;<span class="keyword">inline</span> <a class="code" href="classnd_skeleton_container.html">ndSkeletonContainer</a>* ndBodyKinematic::GetSkeleton()<span class="keyword"> const</span></div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;<span class="keyword"></span>{ </div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;    <span class="keywordflow">return</span> m_skeletonContainer;</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;}</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160; </div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> ndBodyKinematic::SetSkeleton(<a class="code" href="classnd_skeleton_container.html">ndSkeletonContainer</a>* <span class="keyword">const</span> skeleton)</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;{</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;    m_skeletonContainer = skeleton;</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;}</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160; </div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;<span class="keyword">inline</span> ndFloat32 ndBodyKinematic::GetMaxLinearStep()<span class="keyword"> const</span></div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;    <span class="keywordflow">return</span> m_maxLinearStep;</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;}</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160; </div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;<span class="keyword">inline</span> ndFloat32 ndBodyKinematic::GetMaxAngularStep()<span class="keyword"> const</span></div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;    <span class="keywordflow">return</span> m_maxAngleStep;</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;}</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160; </div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> ndBodyKinematic::SetDebugMaxLinearAndAngularIntegrationStep(ndFloat32 angleInRadian, ndFloat32 stepInUnitPerSeconds)</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;{</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;    m_maxLinearStep = ndMax(ndAbs(stepInUnitPerSeconds), ndFloat32(1.0f));</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;    m_maxAngleStep = ndMax(ndAbs(angleInRadian), ndFloat32(90.0f) * ndDegreeToRad);</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;}</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160; </div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> ndBodyKinematic::SetLinearDamping(ndFloat32)</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;{</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;}</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160; </div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;<span class="keyword">inline</span> ndFloat32 ndBodyKinematic::GetLinearDamping()<span class="keyword"> const</span></div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;    <span class="keywordflow">return</span> ndFloat32(0.0f);</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;}</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160; </div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> ndBodyKinematic::SetAngularDamping(<span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp;)</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;{</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;}</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160; </div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;<span class="keyword">inline</span> <a class="code" href="classnd_vector.html">ndVector</a> ndBodyKinematic::GetAngularDamping()<span class="keyword"> const</span></div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;    <span class="keywordflow">return</span> ndVector::m_zero;</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;}</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160; </div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;<span class="keyword">inline</span> <a class="code" href="classnd_vector.html">ndVector</a> ndBodyKinematic::GetCachedDamping()<span class="keyword"> const</span></div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;    <span class="keywordflow">return</span> ndVector::m_one;</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;}</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160; </div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> ndBodyKinematic::UpdateInvInertiaMatrix()</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;{</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;    ndAssert(m_invWorldInertiaMatrix[0][3] == ndFloat32(0.0f));</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;    ndAssert(m_invWorldInertiaMatrix[1][3] == ndFloat32(0.0f));</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;    ndAssert(m_invWorldInertiaMatrix[2][3] == ndFloat32(0.0f));</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;    ndAssert(m_invWorldInertiaMatrix[3][3] == ndFloat32(1.0f));</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160; </div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;    m_invWorldInertiaMatrix = CalculateInvInertiaMatrix();</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160; </div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;    ndAssert(m_invWorldInertiaMatrix[0][3] == ndFloat32(0.0f));</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;    ndAssert(m_invWorldInertiaMatrix[1][3] == ndFloat32(0.0f));</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;    ndAssert(m_invWorldInertiaMatrix[2][3] == ndFloat32(0.0f));</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;    ndAssert(m_invWorldInertiaMatrix[3][3] == ndFloat32(1.0f));</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;}</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160; </div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> ndBodyKinematic::IntegrateGyroSubstep(<span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp;)</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;{</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;}</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160; </div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;<span class="keyword">inline</span> <a class="code" href="classnd_jacobian.html">ndJacobian</a> ndBodyKinematic::IntegrateForceAndToque(<span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp;, <span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp;, <span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp;)<span class="keyword"> const</span></div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;    <a class="code" href="classnd_jacobian.html">ndJacobian</a> step;</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;    step.m_linear = ndVector::m_zero;</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;    step.m_angular = ndVector::m_zero;</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;    <span class="keywordflow">return</span> step;</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;}</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160; </div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> ndBodyKinematic::AddImpulse(<span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp;, <span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp;, ndFloat32)</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;{</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;}</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160; </div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> ndBodyKinematic::ApplyImpulsePair(<span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp;, <span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp;, ndFloat32)</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;{</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;}</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160; </div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> ndBodyKinematic::ApplyImpulsesAtPoint(ndInt32, <span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>* <span class="keyword">const</span>, <span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>* <span class="keyword">const</span>, ndFloat32)</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;{</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;}</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160; </div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> ndBodyKinematic::SpecialUpdate(ndFloat32)</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;{</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;    ndAssert(0);</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;}</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160; </div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> ndBodyKinematic::ApplyExternalForces(ndInt32, ndFloat32)</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;{</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;}</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160; </div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;<span class="preprocessor">#endif </span></div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160; </div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<div class="ttc" id="aclassnd_spin_lock_html"><div class="ttname"><a href="classnd_spin_lock.html">ndSpinLock</a></div><div class="ttdoc">Simple spin lock for synchronizing threads for very short period of time.</div><div class="ttdef"><b>Definition:</b> ndUtils.h:212</div></div>
<div class="ttc" id="aclassnd_skeleton_container_html"><div class="ttname"><a href="classnd_skeleton_container.html">ndSkeletonContainer</a></div><div class="ttdef"><b>Definition:</b> ndSkeletonContainer.h:31</div></div>
<div class="ttc" id="aclassnd_scene_html"><div class="ttname"><a href="classnd_scene.html">ndScene</a></div><div class="ttdef"><b>Definition:</b> ndScene.h:59</div></div>
<div class="ttc" id="aclassnd_model_html"><div class="ttname"><a href="classnd_model.html">ndModel</a></div><div class="ttdef"><b>Definition:</b> ndModel.h:33</div></div>
<div class="ttc" id="aclassnd_body_html"><div class="ttname"><a href="classnd_body.html">ndBody</a></div><div class="ttdef"><b>Definition:</b> ndBody.h:43</div></div>
<div class="ttc" id="aclassnd_tree_html"><div class="ttname"><a href="classnd_tree.html">ndTree</a></div><div class="ttdef"><b>Definition:</b> ndTree.h:82</div></div>
<div class="ttc" id="aclassnd_contact_html"><div class="ttname"><a href="classnd_contact.html">ndContact</a></div><div class="ttdef"><b>Definition:</b> ndContact.h:97</div></div>
<div class="ttc" id="aclassnd_dynamics_update_cuda_html"><div class="ttname"><a href="classnd_dynamics_update_cuda.html">ndDynamicsUpdateCuda</a></div><div class="ttdef"><b>Definition:</b> ndDynamicsUpdateCuda.h:31</div></div>
<div class="ttc" id="aclassnd_ray_cast_notify_html"><div class="ttname"><a href="classnd_ray_cast_notify.html">ndRayCastNotify</a></div><div class="ttdef"><b>Definition:</b> ndRayCastNotify.h:31</div></div>
<div class="ttc" id="aclassnd_dynamics_update_soa_html"><div class="ttname"><a href="classnd_dynamics_update_soa.html">ndDynamicsUpdateSoa</a></div><div class="ttdef"><b>Definition:</b> ndDynamicsUpdateSoa.h:70</div></div>
<div class="ttc" id="aclassnd_joint_bilateral_constraint_html"><div class="ttname"><a href="classnd_joint_bilateral_constraint.html">ndJointBilateralConstraint</a></div><div class="ttdef"><b>Definition:</b> ndJointBilateralConstraint.h:53</div></div>
<div class="ttc" id="aclassnd_dynamics_update_opencl_html"><div class="ttname"><a href="classnd_dynamics_update_opencl.html">ndDynamicsUpdateOpencl</a></div><div class="ttdef"><b>Definition:</b> ndDynamicsUpdateOpencl.h:31</div></div>
<div class="ttc" id="aclassnd_body_kinematic_html"><div class="ttname"><a href="classnd_body_kinematic.html">ndBodyKinematic</a></div><div class="ttdef"><b>Definition:</b> ndBodyKinematic.h:40</div></div>
<div class="ttc" id="aclassnd_bvh_leaf_node_html"><div class="ttname"><a href="classnd_bvh_leaf_node.html">ndBvhLeafNode</a></div><div class="ttdef"><b>Definition:</b> ndBvhNode.h:93</div></div>
<div class="ttc" id="aclassnd_dynamics_update_avx2_html"><div class="ttname"><a href="classnd_dynamics_update_avx2.html">ndDynamicsUpdateAvx2</a></div><div class="ttdef"><b>Definition:</b> ndDynamicsUpdateAvx2.h:31</div></div>
<div class="ttc" id="aclassnd_body_sentinel_html"><div class="ttname"><a href="classnd_body_sentinel.html">ndBodySentinel</a></div><div class="ttdef"><b>Definition:</b> ndBodyKinematic.h:238</div></div>
<div class="ttc" id="aclassnd_matrix_html"><div class="ttname"><a href="classnd_matrix.html">ndMatrix</a></div><div class="ttdef"><b>Definition:</b> ndMatrix.h:42</div></div>
<div class="ttc" id="aclassnd_special_list_html"><div class="ttname"><a href="classnd_special_list.html">ndSpecialList</a></div><div class="ttdef"><b>Definition:</b> ndBodyListView.h:32</div></div>
<div class="ttc" id="aclassnd_list_html"><div class="ttname"><a href="classnd_list.html">ndList</a></div><div class="ttdef"><b>Definition:</b> ndList.h:33</div></div>
<div class="ttc" id="aclassnd_bvh_scene_manager_html"><div class="ttname"><a href="classnd_bvh_scene_manager.html">ndBvhSceneManager</a></div><div class="ttdef"><b>Definition:</b> ndBvhNode.h:172</div></div>
<div class="ttc" id="aclassnd_jacobian_html"><div class="ttname"><a href="classnd_jacobian.html">ndJacobian</a></div><div class="ttdef"><b>Definition:</b> ndConstraint.h:99</div></div>
<div class="ttc" id="aclassnd_quaternion_html"><div class="ttname"><a href="classnd_quaternion.html">ndQuaternion</a></div><div class="ttdef"><b>Definition:</b> ndQuaternion.h:32</div></div>
<div class="ttc" id="aclassnd_fast_ray_html"><div class="ttname"><a href="classnd_fast_ray.html">ndFastRay</a></div><div class="ttdef"><b>Definition:</b> ndFastRay.h:48</div></div>
<div class="ttc" id="aclassnd_world_scene_cuda_html"><div class="ttname"><a href="classnd_world_scene_cuda.html">ndWorldSceneCuda</a></div><div class="ttdef"><b>Definition:</b> ndWorldSceneCuda.h:28</div></div>
<div class="ttc" id="aclassnd_dynamics_update_html"><div class="ttname"><a href="classnd_dynamics_update.html">ndDynamicsUpdate</a></div><div class="ttdef"><b>Definition:</b> ndDynamicsUpdate.h:45</div></div>
<div class="ttc" id="aclassnd_body_kinematic_1_1nd_joint_list_html"><div class="ttname"><a href="classnd_body_kinematic_1_1nd_joint_list.html">ndBodyKinematic::ndJointList</a></div><div class="ttdef"><b>Definition:</b> ndBodyKinematic.h:63</div></div>
<div class="ttc" id="aclassnd_body_kinematic_1_1nd_contact_map_html"><div class="ttname"><a href="classnd_body_kinematic_1_1nd_contact_map.html">ndBodyKinematic::ndContactMap</a></div><div class="ttdef"><b>Definition:</b> ndBodyKinematic.h:72</div></div>
<div class="ttc" id="aclassnd_shape_instance_html"><div class="ttname"><a href="classnd_shape_instance.html">ndShapeInstance</a></div><div class="ttdef"><b>Definition:</b> ndShapeInstance.h:62</div></div>
<div class="ttc" id="aclassnd_load_save_base_1_1nd_load_descriptor_html"><div class="ttname"><a href="classnd_load_save_base_1_1nd_load_descriptor.html">ndLoadSaveBase::ndLoadDescriptor</a></div><div class="ttdef"><b>Definition:</b> ndSaveLoadSytem.h:59</div></div>
<div class="ttc" id="aclassnd_load_save_base_1_1nd_save_descriptor_html"><div class="ttname"><a href="classnd_load_save_base_1_1nd_save_descriptor.html">ndLoadSaveBase::ndSaveDescriptor</a></div><div class="ttdef"><b>Definition:</b> ndSaveLoadSytem.h:93</div></div>
<div class="ttc" id="aclassnd_vector_html"><div class="ttname"><a href="classnd_vector.html">ndVector</a></div><div class="ttdef"><b>Definition:</b> ndVectorArmNeon.h:41</div></div>
<div class="ttc" id="aclassnd_ik_solver_html"><div class="ttname"><a href="classnd_ik_solver.html">ndIkSolver</a></div><div class="ttdef"><b>Definition:</b> ndIkSolver.h:32</div></div>
<div class="ttc" id="aclassnd_world_html"><div class="ttname"><a href="classnd_world.html">ndWorld</a></div><div class="ttdef"><b>Definition:</b> ndWorld.h:47</div></div>
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_3b1dd73b9fb2aae500397c690f6e720e.html">newton-dynamics</a></li><li class="navelem"><a class="el" href="dir_884601d3c3a6558edcfce6787edcf8d1.html">newton-4.00</a></li><li class="navelem"><a class="el" href="dir_d26a41558ed903aead586c87f46b012f.html">sdk</a></li><li class="navelem"><a class="el" href="dir_ee7059d835116e7de81274163726d1e4.html">dCollision</a></li><li class="navelem"><b>ndBodyKinematic.h</b></li>
    <li class="footer">Generated by <a href="http://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.8.20 </li>
  </ul>
</div>
</body>
</html>
